from common import TestMetaWearBase from ctypes import create_string_buffer from cbindings import * #from mbientlab.metawear.cbindings import * class TestMagnetometerBmm150(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_CPRO_BOARD super().setUp() def test_preset(self): tests= [ { 'expected': [[0x15, 0x04, 0x01, 0x02], [0x15, 0x03, 0x0]] , 'preset': MagBmm150Preset.LOW_POWER, 'preset_name': 'low power', 'offset': 0 }, { 'expected': [[0x15, 0x04, 0x04, 0x0e], [0x15, 0x03, 0x00]], 'preset': MagBmm150Preset.REGULAR, 'preset_name': 'regular', 'offset': 2 }, { 'expected': [[0x15, 0x04, 0x07, 0x1a], [0x15, 0x03, 0x00]], 'preset': MagBmm150Preset.ENHANCED_REGULAR, 'preset_name': 'enhanced regular', 'offset': 4 }, { 'expected': [[0x15, 0x04, 0x17, 0x52], [0x15, 0x03, 0x05]], 'preset': MagBmm150Preset.HIGH_ACCURACY, 'preset_name': 'high accuracy', 'offset': 6 }, ] for test in tests: with self.subTest(preset= test['preset_name']): offset= test['offset'] self.libmetawear.mbl_mw_mag_bmm150_set_preset(self.board, test['preset']) print("TestMagnetometerBmm150 \n") self.assertEqual(self.command_history[offset:offset + 2], test['expected']) def test_enable_b_field_sampling(self): expected= [0x15, 0x02, 0x01, 0x00] self.libmetawear.mbl_mw_mag_bmm150_enable_b_field_sampling(self.board) print("TestMagnetometerBmm150 \n") self.assertEqual(self.command, expected) def test_disable_b_field_sampling(self): expected= [0x15, 0x02, 0x00, 0x01] self.libmetawear.mbl_mw_mag_bmm150_disable_b_field_sampling(self.board) print("TestMagnetometerBmm150 \n") self.assertEqual(self.command, expected) def test_start(self): expected= [0x15, 0x01, 0x01] self.libmetawear.mbl_mw_mag_bmm150_start(self.board) print("TestMagnetometerBmm150 \n") self.assertEqual(self.command, expected) def test_stop(self): expected= [0x15, 0x01, 0x00] self.libmetawear.mbl_mw_mag_bmm150_stop(self.board) print("TestMagnetometerBmm150 \n") self.assertEqual(self.command, expected) def test_suspend(self): # last command should be read time register expected = [0x0b, 0x84] self.libmetawear.mbl_mw_mag_bmm150_suspend(self.board) print("TestMagnetometerBmm150 \n") self.assertEqual(self.command, expected) class TestMagnetometerBmm150Rev2(TestMagnetometerBmm150): def setUp(self): self.metawear_cpro_services[0x15] = create_string_buffer(b'\x15\x80\x00\x02', 4) super().setUp() def test_preset(self): expected = [ [0x15, 0x01, 0x00], [0x15, 0x04, 0x04, 0x0e], [0x15, 0x03, 0x00] ] self.libmetawear.mbl_mw_mag_bmm150_set_preset(self.board, MagBmm150Preset.REGULAR) print("TestMagnetometerBmm150Rev2 \n") self.assertEqual(self.command_history, expected) def test_suspend(self): expected = [0x15, 0x01, 0x02] self.libmetawear.mbl_mw_mag_bmm150_suspend(self.board) print("TestMagnetometerBmm150Rev2 \n") self.assertEqual(self.command, expected) class TestMagnetometerBmm150Data(TestMetaWearBase): def setUp(self): self.boardType= TestMetaWearBase.METAWEAR_CPRO_BOARD super().setUp() def test_b_field_subscribe(self): expected= [0x15, 0x05, 0x01] signal= self.libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(self.board) self.libmetawear.mbl_mw_datasignal_subscribe(signal, None, self.sensor_data_handler) def test_b_field_component_subscribe(self): # expect only 1 subscribe & unsubscribe commands to be issued expected_cmds= [ [0x15, 0x05, 0x01], [0x15, 0x05, 0x00] ] signal= self.libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(self.board) self.libmetawear.mbl_mw_datasignal_subscribe(signal, None, self.sensor_data_handler) indices= [Const.MAG_BFIELD_X_AXIS_INDEX, Const.MAG_BFIELD_Y_AXIS_INDEX, Const.MAG_BFIELD_Z_AXIS_INDEX] for i in indices: component= self.libmetawear.mbl_mw_datasignal_get_component(signal, i) self.libmetawear.mbl_mw_datasignal_subscribe(component, None, self.sensor_data_handler) for i in indices: component= self.libmetawear.mbl_mw_datasignal_get_component(signal, i) self.libmetawear.mbl_mw_datasignal_unsubscribe(component) self.libmetawear.mbl_mw_datasignal_unsubscribe(signal) print("TestMagnetometerBmm150Data \n") self.assertEqual(self.command_history, expected_cmds) def test_b_field_unsubscribe(self): expected= [0x15, 0x05, 0x00] signal= self.libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(self.board) self.libmetawear.mbl_mw_datasignal_unsubscribe(signal) def test_b_field_data(self): expected= CartesianFloat(x = -251.1250, y = 165.1875, z = 71.3125) response= create_string_buffer(b'\x15\x05\x4e\xf0\x53\x0a\x75\x04', 8) signal= self.libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(self.board) self.libmetawear.mbl_mw_datasignal_subscribe(signal, None, self.sensor_data_handler) self.notify_mw_char(response) print("TestMagnetometerBmm150Data \n") self.assertEqual(self.data_cartesian_float, expected) def test_b_field_component_data(self): response= create_string_buffer(b'\x15\x05\x4e\xf0\x53\x0a\x75\x04', 8) tests= [ { 'expected': -251.1250, 'index': Const.MAG_BFIELD_X_AXIS_INDEX, 'name': 'x-axis' }, { 'expected': 165.1875, 'index': Const.MAG_BFIELD_Y_AXIS_INDEX, 'name': 'y-axis' }, { 'expected': 71.3125, 'index': Const.MAG_BFIELD_Z_AXIS_INDEX, 'name': 'z-axis' } ] for test in tests: with self.subTest(odr= test['name']): signal= self.libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(self.board) signal_component = self.libmetawear.mbl_mw_datasignal_get_component(signal, test['index']) self.libmetawear.mbl_mw_datasignal_subscribe(signal_component, None, self.sensor_data_handler) self.notify_mw_char(response) print("TestMagnetometerBmm150Data \n") self.assertAlmostEqual(self.data_float.value, test['expected'], delta = 0.001) class TestMagnetometerPackedData(TestMetaWearBase): def setUp(self): self.metawear_cpro_services[0x15] = create_string_buffer(b'\x15\x80\x00\x01', 4) self.boardType = TestMetaWearBase.METAWEAR_CPRO_BOARD super().setUp() self.packed_bfield_data_signal = self.libmetawear.mbl_mw_mag_bmm150_get_packed_b_field_data_signal(self.board) def sensorDataHandler(self, context, data): super().sensorDataHandler(context, data) self.cartesian_float_values.append(self.data_cartesian_float) def test_subscribe_packed_bfield_data(self): expected = [0x15, 0x09, 0x01] self.libmetawear.mbl_mw_datasignal_subscribe(self.packed_bfield_data_signal, None, self.sensor_data_handler) print("TestMagnetometerPackedData \n") self.assertEqual(self.command, expected) def test_unsubscribe_packed_bfield_data(self): expected = [0x15, 0x09, 0x00] self.libmetawear.mbl_mw_datasignal_unsubscribe(self.packed_bfield_data_signal) print("TestMagnetometerPackedData \n") self.assertEqual(self.command, expected) def test_packed_bfield_data(self): response = create_string_buffer(b'\x15\x09\xb6\x0c\x72\xf7\x89\xee\xb6\x0b\x5a\xf8\x32\xee\xe6\x0a\xa2\xf7\x25\xef', 20); expected = [CartesianFloat(x = 203.375, y = -136.874, z = -279.437), CartesianFloat(x = 187.375, y = -122.375, z = -284.874), CartesianFloat(x = 174.375, y = -133.875, z = -269.687)] self.cartesian_float_values= [] self.libmetawear.mbl_mw_datasignal_subscribe(self.packed_bfield_data_signal, None, self.sensor_data_handler) self.notify_mw_char(response) print("TestMagnetometerPackedData \n") self.assertEqual(self.cartesian_float_values, expected)